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Design method for high-speed pantograph multi-target finite frequency domain controller

A design method and pantograph technology, applied in the design field of high-speed pantograph multi-objective finite frequency domain controller, can solve the problems of not considering the state quantity acquisition method, not using frequency domain characteristics, unfavorable engineering application and so on

Inactive Publication Date: 2017-06-16
SOUTHWEST JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In these control methods, only the time-domain information of the contact force is considered, its frequency-domain characteristics are not utilized, and the way to obtain the state quantity is not considered, and only for the control of the contact force, which is not conducive to its practical engineering application

Method used

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  • Design method for high-speed pantograph multi-target finite frequency domain controller
  • Design method for high-speed pantograph multi-target finite frequency domain controller
  • Design method for high-speed pantograph multi-target finite frequency domain controller

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Embodiment Construction

[0071] The present invention will be described in further detail below in conjunction with accompanying drawing and specific embodiment, as figure 1 shown.

[0072] 1. Establishment of the mathematical model of the pantograph-catenary system

[0073] 1. Establishment of nonlinear finite element mathematical model of catenary

[0074] The contact line and catenary cable are regarded as nonlinear cable elements, and the suspension string is regarded as nonlinear rod element, and the finite element model of catenary is established, which is written as the basic dynamic equilibrium equation:

[0075]

[0076] In the formula: M c 、C c 、K c are the global mass, global damping and global stiffness matrices of the catenary unit, respectively; x c are the acceleration, velocity and displacement matrices of the finite element nodes; f c is the external force vector of the catenary.

[0077] 2. Establish a three-degree-of-freedom pantograph model

[0078] The pantograph head...

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Abstract

The invention discloses a design method for a high-speed pantograph multi-target finite frequency domain controller. The method comprises the following steps that a pantograph and overhead contact wire system nonlinear model and a state-space model are established; frequency domain characteristics of contact force fluctuation are analyzed by power spectral density, and therefore dominant frequency of the contact force is determined; a pantograph and overhead contact wire model for control is constructed, a control target is determined, then, the controller is designed, and a control gain matrix is calculated; a pantograph and overhead contact wire model for estimation is constructed, and noise statistics unknown or time-varying estimator design is considered. The controller takes advantages of the frequency domain characteristics of the contact force fluctuation and improves the control property, and the application of the estimator and the limitation for control force improve the practicality of a project.

Description

technical field [0001] The invention relates to the field of power supply lines of electric vehicles or related controllers along rails, in particular to a design method for a high-speed pantograph multi-objective limited frequency domain controller. Background technique [0002] In the electrified railway, the electric locomotive obtains electric energy through the sliding contact between the pantograph on the roof and the catenary. Therefore, the contact performance between the pantograph and catenary is the key to ensure the quality of current receiving, and the contact force of the pantograph and catenary is the key to characterize its current receiving quality. Important indicators. With the increase of railway running speed, the fluctuation of pantograph-catenary contact force increases. Excessive contact force will cause increased mechanical wear between the pantograph and catenary, while too small contact force will lead to arcing or even offline. [0003] Lin Y C,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50B60L5/18
CPCB60L5/18G06F30/23Y02T90/00
Inventor 刘志刚鲁小兵段甫川张静徐钊刘金增
Owner SOUTHWEST JIAOTONG UNIV
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